#include "VOFA.h"
#include "chassis_task.h"
#include "stdio.h"
#include "cmsis_os.h"
#include "bsp_usart.h"


float chassis_motor0_speed ,chassis_motor0_speed_set;
float chassis_motor1_speed ,chassis_motor1_speed_set;
float chassis_motor2_speed ,chassis_motor2_speed_set;
float chassis_motor3_speed ,chassis_motor3_speed_set;
void vofa_task(void const * argument)
{   
        while(1)
        {
            chassis_motor0_speed       =(float)(chassis_move.motor_chassis[0].speed);
            chassis_motor0_speed_set   =(float)(chassis_move.motor_chassis[0].speed_set);
            chassis_motor1_speed       =(float)(chassis_move.motor_chassis[1].speed);
            chassis_motor1_speed_set   =(float)(chassis_move.motor_chassis[1].speed_set);
					  chassis_motor2_speed       =(float)(chassis_move.motor_chassis[2].speed);
            chassis_motor2_speed_set   =(float)(chassis_move.motor_chassis[2].speed_set);
					  chassis_motor3_speed       =(float)(chassis_move.motor_chassis[3].speed);
            chassis_motor3_speed_set   =(float)(chassis_move.motor_chassis[3].speed_set);

            printf("samples: %f, %f, %f, %f, %f, %f, %f, %f\n",chassis_motor0_speed, chassis_motor0_speed_set ,chassis_motor1_speed, chassis_motor1_speed_set ,chassis_motor2_speed, chassis_motor2_speed_set ,chassis_motor3_speed, chassis_motor3_speed_set );

            vTaskDelay(10);
      }
}
